基于MPC的AUV轨迹跟踪控制研究
Research on Trajectory Tracking Control of AUV Based on MPC
石文会 1金丽娜 1马楠楠1
作者信息
- 1. 辽宁石油化工大学,辽宁 抚顺 113001
- 折叠
摘要
文章研究了自主水下航行器(AUV)的轨迹跟踪控制问题.为了提高自主水下航行器的轨迹跟踪性能,提出一种基于Lyapunov的模型预测控制(LMPC)方法来设计控制器.首先,基于该方法,考虑执行器饱和等实际约束,设计非线性反步跟踪控制律,在基于Lyapunov的模型预测控制问题中构造约束条件,使闭环的稳定性得到保证.其次,传统的控制器参数设置方法一般为试凑法,根据经验代入不同参数观察AUV的跟踪效果.对于其中的权重矩阵,采用改进的布谷鸟算法进行优化.最后,在MATLAB上的仿真结果表明,所提出的方法显著提高了AUV的轨迹跟踪控制性能.
Abstract
This paper investigates the trajectory tracking control problem of AUVs.In order to improve the trajectory tracking performance of AUV,a method of Model Predictive Control based on Lyapunov is proposed to design the controller.Firstly,based on the method,considering practical constraints such as actuator saturation,a nonlinear backstepping tracking control law is designed,and constraint conditions are constructed in the problem of Model Predictive Control based on Lyapunov to ensure the stability of the closed-loop.Secondly,the traditional method for setting controller parameters is generally the trial and error method,where different parameters are substituted based on experience to observe the tracking effect of AUV.For the weight matrix in the Model Predictive Control based on Lyapunov,an improved Cuckoo Search algorithm is used for optimization.Finally,the simulation results on MATLAB show that the proposed method significantly improves the trajectory tracking control performance of AUVs.
关键词
自主水下航行器/轨迹跟踪/模型预测控制/布谷鸟搜索算法Key words
Autonomous Underwater Vehicle/trajectory tracking/model predictive control/Cuckoo Search algorithm引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据